Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 194 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 194 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -146815.67 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -146815.67

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 20 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 16 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 194 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 085031,6252.502,-1254.422,39,2.0,39,-11.9 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.114,0.186

_SM_DEPTHo 1.22 KALMAN_X 3775.1,-1178.2,-1163.2,-48534.8,12028.7

_SM_ANGLEo -59.6 KALMAN_Y -27693.8,-427.1,-1007.3,10766.9,-6060.1

GPS2 085638,6252.442,-1254.364,14,1.3,14,-11.9 MHEAD_RNG_PITCHd_Wd 340.3,45180,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027441 ALTIM_BOTTOM_PING 675.2,63.0

SM_CCo 20307,4.62,0.540,0,0,1983,225.19 _24V_AH 23.3,36.151

SM_GC 2.72,0.00,0.00,4.62,0.000,0.000,0.540,47,2642,1983,-11.01,-0.23,225.19 _10V_AH 10.1,20.161

IRIDIUM_FIX 6225.82,-1250.14,290698,030301 DATA_FILE_SIZE 47374,975

TT8_MAMPS 0.029146 CAP_FILE_SIZE 135361,0

HUMID 1783 CFSIZE 260165632,245952512

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.80 GPS 040409,143737,6252.601,-1257.462,53,0.9,53,-11.9

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.01 SBE_CT 681 24 380.87

Roll_motor 152 95 338.11 SBE_O2 725 19 321.15

VBD_pump_during_apogee 313 1175 8591.51 WL_BB2F 589 105 1443.30

VBD_pump_during_surface 4 539 58.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.72 nil 0 0 0.00

Iridium_during_connect 28 160 107.17 nil 0 0 0.00

Iridium_during_xfer 173 223 902.10

Transponder_ping 6 420 61.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.38

TT8 1751 19 350.34

LPSleep 15821 2 349.96

TT8_Active 441 19 88.37

TT8_Sampling 2065 39 830.13

TT8_CF8 597 45 276.31

TT8_Kalman 33 81 27.57

Analog_circuits 1467 12 177.88

GPS_charging 0 0 0.00

Compass 2025 8 163.66

RAFOS 0 0 0.00

Transponder 43 30 13.18

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.70 0.000 2 0.000 0.000 45 2666 3287

62 -1.10 -146.6 4.1 -11.5 2 85 12.15 2.72 -3.45 0.000 4 0.159 0.094 2195 1244 3501

253 -1.10 -146.6 29.0 -7.0 10 258 0.00 2.62 0.00 0.000 6 0.000 0.069 2195 2648 3501

569 -1.10 -146.6 55.4 -8.2 25 573 0.00 2.22 0.00 0.000 4 0.000 0.095 2195 3792 3501

633 -1.10 -146.6 60.4 -8.0 28 637 0.00 2.10 0.00 0.000 6 0.000 0.064 2195 2656 3501

967 -1.10 -146.6 85.4 -7.5 44 969 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2655 3501

1275 -1.10 -146.6 108.5 -7.2 59 1276 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2655 3501

1585 -1.10 -146.6 131.5 -7.6 74 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2655 3501

1893 -1.10 -146.6 154.9 -7.6 89 1897 0.00 2.22 0.00 0.000 4 0.000 0.092 2195 3793 3501

1944 -1.10 -146.6 158.9 -8.1 91 1947 0.00 2.10 0.00 0.000 6 0.000 0.060 2195 2646 3501

2271 -1.10 -146.6 183.7 -7.6 107 2272 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2646 3501

2580 -1.10 -146.6 207.3 -7.6 122 2583 0.00 2.22 0.00 0.000 4 0.000 0.092 2195 3784 3501

2613 -1.10 -146.6 210.1 -8.3 123 2617 0.00 2.08 0.00 0.000 6 0.000 0.061 2195 2652 3501

2935 -1.10 -146.6 235.3 -8.1 139 2936 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2652 3501

3244 -1.10 -146.6 260.3 -7.9 154 3245 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3501

3553 -1.10 -146.6 284.2 -7.8 169 3554 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3501

3863 -1.10 -146.6 307.9 -7.6 184 3866 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3790 3501

3913 -1.10 -146.6 312.1 -8.6 186 3917 0.00 2.10 0.00 0.000 6 0.000 0.061 2194 2640 3501

4240 -1.10 -146.6 337.5 -8.0 202 4241 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2640 3501

4550 -1.10 -146.6 361.6 -7.4 217 4553 0.00 2.22 0.00 0.000 4 0.000 0.087 2194 3793 3501

4589 -1.10 -146.6 364.6 -7.5 218 4595 0.00 2.10 0.00 0.000 6 0.000 0.060 2195 2642 3501

4905 -1.10 -146.6 387.1 -6.9 234 4906 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3501

5214 -1.10 -146.6 408.7 -7.2 249 5218 0.00 2.20 0.00 0.000 4 0.000 0.088 2195 3785 3501

5277 -1.10 -146.6 413.5 -7.7 251 5283 0.00 2.08 0.00 0.000 6 0.000 0.058 2195 2641 3501

5593 -1.10 -146.6 437.8 -7.6 267 5594 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

5903 -1.10 -146.6 461.9 -8.0 282 5904 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3501

6212 -1.10 -146.6 486.5 -7.5 297 6215 0.00 2.22 0.00 0.000 4 0.000 0.087 2195 3794 3501

6257 -1.10 -146.6 490.1 -7.7 299 6261 0.00 2.08 0.00 0.000 6 0.000 0.056 2195 2646 3501

6590 -1.10 -146.6 513.1 -6.7 315 6591 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2645 3501

6899 -1.10 -146.6 533.0 -6.0 330 6900 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3501

7208 -1.10 -146.6 551.4 -6.1 345 7212 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3790 3501

7281 -1.10 -146.6 556.4 -6.6 348 7285 0.00 2.08 0.00 0.000 6 0.000 0.055 2195 2640 3501

7609 -1.10 -146.6 580.3 -8.0 364 7610 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2640 3501

7917 -1.10 -146.6 608.2 -9.9 379 7921 0.00 2.58 0.00 0.000 4 0.000 0.068 2194 1226 3501

7945 -1.10 -146.6 611.1 -9.8 380 7950 0.00 2.62 0.00 0.000 6 0.000 0.061 2194 2660 3501

8268 -1.10 -146.6 642.7 -9.4 396 8271 0.00 2.17 0.00 0.000 4 0.000 0.093 2195 3792 3501

8318 -1.10 -146.6 647.3 -8.7 398 8321 0.00 2.05 0.00 0.000 6 0.000 0.054 2195 2649 3501

8645 -1.10 -146.6 672.7 -7.6 414 8649 0.00 2.22 0.00 0.000 4 0.000 0.092 2195 3792 3500

8678 -1.10 -146.6 675.6 -8.6 415 8682 0.00 2.05 0.00 0.000 6 0.000 0.054 2194 2642 3500

8999 -1.10 -146.6 701.5 -8.2 431 9001 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3500

9309 -1.10 -146.6 725.1 -7.3 446 9310 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2641 3499

9367 end dive: BOTTOM_OBSTACLE_DETECTED

state 9367 begin apogee

9376 -0.42 0.0 729.5 7.2 449 9504 0.75 0.00 124.60 1.176 6 0.090 0.000 2346 1991 2902

9504 end apogee: CONTROL_FINISHED_OK

state 9505 begin climb

9508 1.10 146.6 735.6 0.0 455 9641 1.55 2.72 122.82 1.134 4 0.057 0.064 2678 579 2304

9897 1.17 199.3 721.7 4.5 472 9947 0.00 2.55 45.42 1.113 6 0.000 0.039 2678 2024 2089

10273 1.20 222.0 701.1 5.4 491 10296 0.10 0.00 20.75 1.084 6 0.048 0.000 2715 2025 1996

10599 1.20 222.0 679.4 6.8 507 10600 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2025 1996

10908 1.20 222.0 658.1 6.7 522 10912 0.00 2.55 0.00 0.000 4 0.000 0.068 2716 3403 1995

10958 1.20 222.0 654.5 7.1 524 10963 0.00 2.55 0.00 0.000 6 0.000 0.048 2715 1988 1995

11280 1.20 222.0 632.7 6.5 540 11281 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1988 1994

11589 1.20 222.0 613.6 6.3 555 11590 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1988 1993

11899 1.20 222.0 594.2 6.1 570 11900 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 1988 1993

12208 1.20 222.0 572.6 6.9 585 12212 0.00 2.62 0.00 0.000 4 0.000 0.065 2716 3402 1993

12303 1.20 222.0 565.5 7.8 589 12307 0.00 2.53 0.00 0.000 6 0.000 0.046 2716 1989 1993

12619 1.20 222.0 542.6 7.3 604 12623 0.00 2.55 0.00 0.000 4 0.000 0.060 2716 585 1993

12674 1.20 222.0 538.1 7.7 606 12680 0.00 2.47 0.00 0.000 6 0.000 0.038 2716 1997 1993

12990 1.20 222.0 515.6 6.9 622 12994 0.00 2.58 0.00 0.000 4 0.000 0.064 2716 3405 1993

13024 1.20 222.0 513.2 6.8 623 13030 0.00 2.50 0.00 0.000 6 0.000 0.045 2716 1998 1993

13339 1.20 222.0 491.2 7.0 639 13344 0.00 2.55 0.00 0.000 4 0.000 0.059 2716 586 1993

13418 1.20 222.0 485.1 7.7 642 13424 0.00 2.47 0.00 0.000 6 0.000 0.037 2716 2006 1994

13734 1.20 222.0 463.6 6.7 658 13735 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2006 1994

14043 1.20 222.0 443.1 6.6 673 14044 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2006 1994

14352 1.20 222.0 420.7 7.4 688 14353 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2006 1995

14662 1.20 222.0 397.7 7.6 703 14663 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2006 1995

14971 1.20 222.0 374.2 7.6 718 14974 0.00 2.55 0.00 0.000 4 0.000 0.058 2716 594 1996

15010 1.20 222.0 371.1 7.9 719 15016 0.00 2.45 0.00 0.000 6 0.000 0.038 2716 1999 1995

15326 1.20 222.0 348.0 7.2 735 15330 0.00 2.58 0.00 0.000 4 0.000 0.066 2716 3405 1996

15366 1.20 222.0 345.0 7.7 736 15372 0.00 2.53 0.00 0.000 6 0.000 0.048 2716 1992 1996

15682 1.20 222.0 321.8 7.3 752 15686 0.00 2.53 0.00 0.000 4 0.000 0.060 2716 590 1997

15726 1.20 222.0 318.2 7.9 754 15731 0.00 2.47 0.00 0.000 6 0.000 0.038 2716 2006 1997

16048 1.20 222.0 295.4 7.0 770 16052 0.00 2.58 0.00 0.000 4 0.000 0.067 2716 3409 1997

16081 1.20 222.0 292.8 7.4 771 16087 0.00 2.53 0.00 0.000 6 0.000 0.048 2716 1997 1997

16397 1.20 222.0 270.9 6.9 787 16401 0.00 2.55 0.00 0.000 4 0.000 0.060 2716 584 1997

16436 1.20 222.0 268.0 7.6 789 16441 0.00 2.47 0.00 0.000 6 0.000 0.039 2716 1997 1997

16763 1.20 222.0 244.9 7.2 805 16768 0.00 2.60 0.00 0.000 4 0.000 0.067 2716 3416 1998

16797 1.20 222.0 242.4 7.4 806 16803 0.00 2.55 0.00 0.000 6 0.000 0.050 2716 1990 1997

17113 1.20 222.0 220.0 7.1 822 17117 0.00 2.55 0.00 0.000 4 0.000 0.061 2716 581 1998

17157 1.20 222.0 216.7 6.8 824 17161 0.00 2.50 0.00 0.000 6 0.000 0.038 2716 2012 1998

17478 1.20 222.0 194.2 7.3 840 17479 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2012 1998

17787 1.20 222.0 173.3 7.0 855 17788 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2012 1998

18096 1.20 222.0 151.6 6.8 870 18097 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2012 1998

18406 1.20 222.0 130.6 6.8 885 18411 0.00 2.58 0.00 0.000 4 0.000 0.068 2716 3412 1998

18440 1.20 222.0 128.2 7.5 886 18446 0.00 2.53 0.00 0.000 6 0.000 0.052 2716 2002 1998

18758 1.20 222.0 106.9 6.9 902 18762 0.00 2.58 0.00 0.000 4 0.000 0.064 2716 587 1999

18813 1.20 222.0 102.7 7.7 904 18820 0.00 2.47 0.00 0.000 6 0.000 0.040 2716 2000 1998

19130 1.20 222.0 81.5 7.0 920 19134 0.00 2.58 0.00 0.000 4 0.000 0.068 2716 3406 1999

19163 1.20 222.0 78.9 7.3 921 19169 0.00 2.53 0.00 0.000 6 0.000 0.053 2716 1996 1999

19481 1.20 222.0 56.2 7.3 937 19485 0.00 2.58 0.00 0.000 4 0.000 0.066 2716 585 1999

19514 1.20 222.0 53.6 8.4 938 19520 0.00 2.47 0.00 0.000 6 0.000 0.040 2716 2005 1998

19830 1.20 222.0 31.1 6.7 954 19834 0.00 2.58 0.00 0.000 4 0.000 0.068 2716 3405 1999

19880 1.20 222.0 27.3 7.1 956 19884 0.00 2.55 0.00 0.000 6 0.000 0.054 2716 1992 1999

20196 1.20 222.0 6.2 6.8 971 20200 0.00 2.60 0.00 0.000 4 0.000 0.074 2716 588 2000

20256 end climb: SURFACE_DEPTH_REACHED

state 20256 begin surface coast

20279 end surface coast: CONTROL_FINISHED_OK

state 20280 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	194	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-146815.67	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	085031,6252.502,-1254.422,39,2.0,39,-11.9	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.114,0.186
_SM_DEPTHo	1.22	KALMAN_X	3775.1,-1178.2,-1163.2,-48534.8,12028.7
_SM_ANGLEo	-59.6	KALMAN_Y	-27693.8,-427.1,-1007.3,10766.9,-6060.1
GPS2	085638,6252.442,-1254.364,14,1.3,14,-11.9	MHEAD_RNG_PITCHd_Wd	340.3,45180,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.027441	ALTIM_BOTTOM_PING	675.2,63.0
SM_CCo	20307,4.62,0.540,0,0,1983,225.19	_24V_AH	23.3,36.151
SM_GC	2.72,0.00,0.00,4.62,0.000,0.000,0.540,47,2642,1983,-11.01,-0.23,225.19	_10V_AH	10.1,20.161
IRIDIUM_FIX	6225.82,-1250.14,290698,030301	DATA_FILE_SIZE	47374,975
TT8_MAMPS	0.029146	CAP_FILE_SIZE	135361,0
HUMID	1783	CFSIZE	260165632,245952512
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.80	GPS	040409,143737,6252.601,-1257.462,53,0.9,53,-11.9
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.01	SBE_CT	681	24	380.87
Roll_motor	152	95	338.11	SBE_O2	725	19	321.15
VBD_pump_during_apogee	313	1175	8591.51	WL_BB2F	589	105	1443.30
VBD_pump_during_surface	4	539	58.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.72	nil	0	0	0.00
Iridium_during_connect	28	160	107.17	nil	0	0	0.00
Iridium_during_xfer	173	223	902.10
Transponder_ping	6	420	61.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.38
TT8	1751	19	350.34
LPSleep	15821	2	349.96
TT8_Active	441	19	88.37
TT8_Sampling	2065	39	830.13
TT8_CF8	597	45	276.31
TT8_Kalman	33	81	27.57
Analog_circuits	1467	12	177.88
GPS_charging	0	0	0.00
Compass	2025	8	163.66
RAFOS	0	0	0.00
Transponder	43	30	13.18

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.70	0.000	2	0.000	0.000	45	2666	3287
62	-1.10	-146.6	4.1	-11.5	2	85	12.15	2.72	-3.45	0.000	4	0.159	0.094	2195	1244	3501
253	-1.10	-146.6	29.0	-7.0	10	258	0.00	2.62	0.00	0.000	6	0.000	0.069	2195	2648	3501
569	-1.10	-146.6	55.4	-8.2	25	573	0.00	2.22	0.00	0.000	4	0.000	0.095	2195	3792	3501
633	-1.10	-146.6	60.4	-8.0	28	637	0.00	2.10	0.00	0.000	6	0.000	0.064	2195	2656	3501
967	-1.10	-146.6	85.4	-7.5	44	969	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2655	3501
1275	-1.10	-146.6	108.5	-7.2	59	1276	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2655	3501
1585	-1.10	-146.6	131.5	-7.6	74	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2655	3501
1893	-1.10	-146.6	154.9	-7.6	89	1897	0.00	2.22	0.00	0.000	4	0.000	0.092	2195	3793	3501
1944	-1.10	-146.6	158.9	-8.1	91	1947	0.00	2.10	0.00	0.000	6	0.000	0.060	2195	2646	3501
2271	-1.10	-146.6	183.7	-7.6	107	2272	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2646	3501
2580	-1.10	-146.6	207.3	-7.6	122	2583	0.00	2.22	0.00	0.000	4	0.000	0.092	2195	3784	3501
2613	-1.10	-146.6	210.1	-8.3	123	2617	0.00	2.08	0.00	0.000	6	0.000	0.061	2195	2652	3501
2935	-1.10	-146.6	235.3	-8.1	139	2936	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2652	3501
3244	-1.10	-146.6	260.3	-7.9	154	3245	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3501
3553	-1.10	-146.6	284.2	-7.8	169	3554	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3501
3863	-1.10	-146.6	307.9	-7.6	184	3866	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3790	3501
3913	-1.10	-146.6	312.1	-8.6	186	3917	0.00	2.10	0.00	0.000	6	0.000	0.061	2194	2640	3501
4240	-1.10	-146.6	337.5	-8.0	202	4241	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2640	3501
4550	-1.10	-146.6	361.6	-7.4	217	4553	0.00	2.22	0.00	0.000	4	0.000	0.087	2194	3793	3501
4589	-1.10	-146.6	364.6	-7.5	218	4595	0.00	2.10	0.00	0.000	6	0.000	0.060	2195	2642	3501
4905	-1.10	-146.6	387.1	-6.9	234	4906	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3501
5214	-1.10	-146.6	408.7	-7.2	249	5218	0.00	2.20	0.00	0.000	4	0.000	0.088	2195	3785	3501
5277	-1.10	-146.6	413.5	-7.7	251	5283	0.00	2.08	0.00	0.000	6	0.000	0.058	2195	2641	3501
5593	-1.10	-146.6	437.8	-7.6	267	5594	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
5903	-1.10	-146.6	461.9	-8.0	282	5904	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3501
6212	-1.10	-146.6	486.5	-7.5	297	6215	0.00	2.22	0.00	0.000	4	0.000	0.087	2195	3794	3501
6257	-1.10	-146.6	490.1	-7.7	299	6261	0.00	2.08	0.00	0.000	6	0.000	0.056	2195	2646	3501
6590	-1.10	-146.6	513.1	-6.7	315	6591	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2645	3501
6899	-1.10	-146.6	533.0	-6.0	330	6900	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3501
7208	-1.10	-146.6	551.4	-6.1	345	7212	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3790	3501
7281	-1.10	-146.6	556.4	-6.6	348	7285	0.00	2.08	0.00	0.000	6	0.000	0.055	2195	2640	3501
7609	-1.10	-146.6	580.3	-8.0	364	7610	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2640	3501
7917	-1.10	-146.6	608.2	-9.9	379	7921	0.00	2.58	0.00	0.000	4	0.000	0.068	2194	1226	3501
7945	-1.10	-146.6	611.1	-9.8	380	7950	0.00	2.62	0.00	0.000	6	0.000	0.061	2194	2660	3501
8268	-1.10	-146.6	642.7	-9.4	396	8271	0.00	2.17	0.00	0.000	4	0.000	0.093	2195	3792	3501
8318	-1.10	-146.6	647.3	-8.7	398	8321	0.00	2.05	0.00	0.000	6	0.000	0.054	2195	2649	3501
8645	-1.10	-146.6	672.7	-7.6	414	8649	0.00	2.22	0.00	0.000	4	0.000	0.092	2195	3792	3500
8678	-1.10	-146.6	675.6	-8.6	415	8682	0.00	2.05	0.00	0.000	6	0.000	0.054	2194	2642	3500
8999	-1.10	-146.6	701.5	-8.2	431	9001	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3500
9309	-1.10	-146.6	725.1	-7.3	446	9310	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2641	3499
9367	end dive: BOTTOM_OBSTACLE_DETECTED
state	9367	begin apogee
9376	-0.42	0.0	729.5	7.2	449	9504	0.75	0.00	124.60	1.176	6	0.090	0.000	2346	1991	2902
9504	end apogee: CONTROL_FINISHED_OK
state	9505	begin climb
9508	1.10	146.6	735.6	0.0	455	9641	1.55	2.72	122.82	1.134	4	0.057	0.064	2678	579	2304
9897	1.17	199.3	721.7	4.5	472	9947	0.00	2.55	45.42	1.113	6	0.000	0.039	2678	2024	2089
10273	1.20	222.0	701.1	5.4	491	10296	0.10	0.00	20.75	1.084	6	0.048	0.000	2715	2025	1996
10599	1.20	222.0	679.4	6.8	507	10600	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2025	1996
10908	1.20	222.0	658.1	6.7	522	10912	0.00	2.55	0.00	0.000	4	0.000	0.068	2716	3403	1995
10958	1.20	222.0	654.5	7.1	524	10963	0.00	2.55	0.00	0.000	6	0.000	0.048	2715	1988	1995
11280	1.20	222.0	632.7	6.5	540	11281	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1988	1994
11589	1.20	222.0	613.6	6.3	555	11590	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1988	1993
11899	1.20	222.0	594.2	6.1	570	11900	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	1988	1993
12208	1.20	222.0	572.6	6.9	585	12212	0.00	2.62	0.00	0.000	4	0.000	0.065	2716	3402	1993
12303	1.20	222.0	565.5	7.8	589	12307	0.00	2.53	0.00	0.000	6	0.000	0.046	2716	1989	1993
12619	1.20	222.0	542.6	7.3	604	12623	0.00	2.55	0.00	0.000	4	0.000	0.060	2716	585	1993
12674	1.20	222.0	538.1	7.7	606	12680	0.00	2.47	0.00	0.000	6	0.000	0.038	2716	1997	1993
12990	1.20	222.0	515.6	6.9	622	12994	0.00	2.58	0.00	0.000	4	0.000	0.064	2716	3405	1993
13024	1.20	222.0	513.2	6.8	623	13030	0.00	2.50	0.00	0.000	6	0.000	0.045	2716	1998	1993
13339	1.20	222.0	491.2	7.0	639	13344	0.00	2.55	0.00	0.000	4	0.000	0.059	2716	586	1993
13418	1.20	222.0	485.1	7.7	642	13424	0.00	2.47	0.00	0.000	6	0.000	0.037	2716	2006	1994
13734	1.20	222.0	463.6	6.7	658	13735	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2006	1994
14043	1.20	222.0	443.1	6.6	673	14044	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2006	1994
14352	1.20	222.0	420.7	7.4	688	14353	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2006	1995
14662	1.20	222.0	397.7	7.6	703	14663	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2006	1995
14971	1.20	222.0	374.2	7.6	718	14974	0.00	2.55	0.00	0.000	4	0.000	0.058	2716	594	1996
15010	1.20	222.0	371.1	7.9	719	15016	0.00	2.45	0.00	0.000	6	0.000	0.038	2716	1999	1995
15326	1.20	222.0	348.0	7.2	735	15330	0.00	2.58	0.00	0.000	4	0.000	0.066	2716	3405	1996
15366	1.20	222.0	345.0	7.7	736	15372	0.00	2.53	0.00	0.000	6	0.000	0.048	2716	1992	1996
15682	1.20	222.0	321.8	7.3	752	15686	0.00	2.53	0.00	0.000	4	0.000	0.060	2716	590	1997
15726	1.20	222.0	318.2	7.9	754	15731	0.00	2.47	0.00	0.000	6	0.000	0.038	2716	2006	1997
16048	1.20	222.0	295.4	7.0	770	16052	0.00	2.58	0.00	0.000	4	0.000	0.067	2716	3409	1997
16081	1.20	222.0	292.8	7.4	771	16087	0.00	2.53	0.00	0.000	6	0.000	0.048	2716	1997	1997
16397	1.20	222.0	270.9	6.9	787	16401	0.00	2.55	0.00	0.000	4	0.000	0.060	2716	584	1997
16436	1.20	222.0	268.0	7.6	789	16441	0.00	2.47	0.00	0.000	6	0.000	0.039	2716	1997	1997
16763	1.20	222.0	244.9	7.2	805	16768	0.00	2.60	0.00	0.000	4	0.000	0.067	2716	3416	1998
16797	1.20	222.0	242.4	7.4	806	16803	0.00	2.55	0.00	0.000	6	0.000	0.050	2716	1990	1997
17113	1.20	222.0	220.0	7.1	822	17117	0.00	2.55	0.00	0.000	4	0.000	0.061	2716	581	1998
17157	1.20	222.0	216.7	6.8	824	17161	0.00	2.50	0.00	0.000	6	0.000	0.038	2716	2012	1998
17478	1.20	222.0	194.2	7.3	840	17479	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2012	1998
17787	1.20	222.0	173.3	7.0	855	17788	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2012	1998
18096	1.20	222.0	151.6	6.8	870	18097	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2012	1998
18406	1.20	222.0	130.6	6.8	885	18411	0.00	2.58	0.00	0.000	4	0.000	0.068	2716	3412	1998
18440	1.20	222.0	128.2	7.5	886	18446	0.00	2.53	0.00	0.000	6	0.000	0.052	2716	2002	1998
18758	1.20	222.0	106.9	6.9	902	18762	0.00	2.58	0.00	0.000	4	0.000	0.064	2716	587	1999
18813	1.20	222.0	102.7	7.7	904	18820	0.00	2.47	0.00	0.000	6	0.000	0.040	2716	2000	1998
19130	1.20	222.0	81.5	7.0	920	19134	0.00	2.58	0.00	0.000	4	0.000	0.068	2716	3406	1999
19163	1.20	222.0	78.9	7.3	921	19169	0.00	2.53	0.00	0.000	6	0.000	0.053	2716	1996	1999
19481	1.20	222.0	56.2	7.3	937	19485	0.00	2.58	0.00	0.000	4	0.000	0.066	2716	585	1999
19514	1.20	222.0	53.6	8.4	938	19520	0.00	2.47	0.00	0.000	6	0.000	0.040	2716	2005	1998
19830	1.20	222.0	31.1	6.7	954	19834	0.00	2.58	0.00	0.000	4	0.000	0.068	2716	3405	1999
19880	1.20	222.0	27.3	7.1	956	19884	0.00	2.55	0.00	0.000	6	0.000	0.054	2716	1992	1999
20196	1.20	222.0	6.2	6.8	971	20200	0.00	2.60	0.00	0.000	4	0.000	0.074	2716	588	2000
20256	end climb: SURFACE_DEPTH_REACHED
state	20256	begin surface coast
20279	end surface coast: CONTROL_FINISHED_OK
state	20280	begin surface